Related papers: PanDepth: Joint Panoptic Segmentation and Depth Co…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

In this work we introduce a novel, CNN-based architecture that can be trained end-to-end to deliver seamless scene segmentation results. Our goal is to predict consistent semantic segmentation and detection results by means of a panoptic…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Estimating scene geometry from data obtained with cost-effective sensors is key for robots and self-driving cars. In this paper, we study the problem of predicting dense depth from a single RGB image (monodepth) with optional sparse…

Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Image Segmentation plays an essential role in computer vision and image processing with various applications from medical diagnosis to autonomous car driving. A lot of segmentation algorithms have been proposed for addressing specific…

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…

Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…

The task of assigning semantic classes and track identities to every pixel in a video is called video panoptic segmentation. Our work is the first that targets this task in a real-world setting requiring dense interpretation in both spatial…

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…

Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance…

Panoptic segmentation unifies semantic segmentation and instance segmentation which has been attracting increasing attention in recent years. However, most existing research was conducted under a supervised learning setup whereas…